Preheat oven to 375°F and line a 12-cup muffin tin with paper liners or grease well.
In a large bowl, whisk together flour, sugar, baking soda, cinnamon, nutmeg, ginger, and salt.
In a separate bowl, mix pumpkin puree, eggs, oil, milk, and vanilla until well combined.
Pour wet ingredients into dry ingredients and stir just until combined—don't overmix!
Divide batter evenly among muffin cups, filling each about 3/4 full.
Bake for 20-22 minutes until a toothpick inserted in the center comes out clean.
Cool in pan for 5 minutes, then transfer to a wire rack to cool completely before storing in an airtight container.